铸造2018，Vol.67Issue(5)：409-413,5.
混联式重载铸造机器人结构设计与分析
Structure Design and Analysis of Hybrid Heavy Load Casting Robot
摘要
Abstract
Aiming at the shortcomings of the existing pouring technology, in order to solve the problems of small load, insufficient flexibility and low working efficiency of manual pouring and series robot fixed station pouring, a hybrid heavy load casting robot with five degrees of freedom was designed, based on the topology theory of mechanism. The overall design scheme and working principle of the casting robot were introduced, and the design of parallel manipulator and the calculation of degree of freedom were completed. The kinematics simulation analysis and model control design of the parallel manipulator were carried out by ADAMS software, and the movement law of the ladle and the displacement change rule of the parallel manipulator sliding platform were analyzed. The results show that the structure design of the parallel manipulator is reliable and reasonable, and the designed hybrid movable heavy load casting robot can meet the requirements of pouring and improve the efficiency of casting.关键词
重载铸造机器人/可移动/混联机构/并联工作臂/运动学分析Key words
heavy load casting robot/movable/hybrid mechanism/parallel manipulator/kinematic analysis分类
矿业与冶金引用本文复制引用
王成军,任润润,郭永存,王鹏,黄如杭..混联式重载铸造机器人结构设计与分析[J].铸造,2018,67(5):409-413,5.基金项目
2016年安徽省科技重大专项计划项目(16030901012) （16030901012）
安徽省自然科学基金面上项目(1708085ME98) （1708085ME98）
2017年淮南市科技创新平台、高校创新团队及医疗卫生等专项计划项目(2017A054). （2017A054）
